A method of path planning for a vehicle includes receiving a request for a turn from a current swath to a next swath, receiving information of the current swath and information of the next swath, determining a trajectory of the turn based on the information of the current swath and the information of the next swath, and outputting the trajectory to a control system of the vehicle for executing the turn. The trajectory includes a first segment and a second segment. The first segment starts from a beginning position of the turn at the current swath and ends at an intermediate position; and the second segment starts from the intermediate position and ends at an ending position of the turn at the next swath. The vehicle changes from a forward gear to a reverse gear, or vice versa, as the vehicle transitions from the first segment to the second segment.
Legal claims defining the scope of protection, as filed with the USPTO.
7. The method of claim 3, wherein the guidance line is curved.
8. The method of claim 1, wherein determining the trajectory of the two-segment turn is performed such that a total distance traversed by the vehicle along the first segment and the second segment is minimized.
9. The method of claim 1, wherein at least one of the current swath and the next swath is curved.
10. The method of claim 1, wherein the current swath and the next swath are parallel to each other, or not parallel to each other.
16. The method of claim 15, wherein the guidance line is curved.
17. The method of claim 15, wherein at least one of the current swath and the next swath is curved.
18. The method of claim 15, wherein the current swath and the next swath are parallel to each other, or not parallel to each other.
24. The method of claim 15, wherein determining the trajectory of the three-segment turn is performed such that a total distance traversed by the vehicle along the first segment, the second segment, and the third segment is minimized.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
April 30, 2020
November 15, 2022
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